JP7550511B2 - 自律移動ロボット、装置、被遠隔操作装置及びプログラム - Google Patents

自律移動ロボット、装置、被遠隔操作装置及びプログラム Download PDF

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Publication number
JP7550511B2
JP7550511B2 JP2019200241A JP2019200241A JP7550511B2 JP 7550511 B2 JP7550511 B2 JP 7550511B2 JP 2019200241 A JP2019200241 A JP 2019200241A JP 2019200241 A JP2019200241 A JP 2019200241A JP 7550511 B2 JP7550511 B2 JP 7550511B2
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Prior art keywords
mobile robot
autonomous mobile
information
task
specific situation
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Japanese (ja)
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JP2021070140A (ja
JP2021070140A5 (enExample
Inventor
大史 浅井
厚太 鍋嶌
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Preferred Networks Inc
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Preferred Networks Inc
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Priority to JP2019200241A priority Critical patent/JP7550511B2/ja
Priority to PCT/JP2020/040293 priority patent/WO2021085429A1/ja
Publication of JP2021070140A publication Critical patent/JP2021070140A/ja
Priority to US17/733,949 priority patent/US20220250247A1/en
Publication of JP2021070140A5 publication Critical patent/JP2021070140A5/ja
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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/4155—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N20/00—Machine learning
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/04—Architecture, e.g. interconnection topology
    • G06N3/0464—Convolutional networks [CNN, ConvNet]
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/08—Learning methods
    • G06N3/09—Supervised learning
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/08—Learning methods
    • G06N3/092—Reinforcement learning
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04Q—SELECTING
    • H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39091—Avoid collision with moving obstacles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39543—Recognize object and plan hand shapes in grasping movements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40089—Tele-programming, transmit task as a program, plus extra info needed by robot
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40411—Robot assists human in non-industrial environment like home or office
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40419—Task, motion planning of objects in contact, task level programming, not robot level
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40499—Reinforcement learning algorithm
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50391—Robot
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/04—Architecture, e.g. interconnection topology
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04Q—SELECTING
    • H04Q2209/00—Arrangements in telecontrol or telemetry systems
    • H04Q2209/50—Arrangements in telecontrol or telemetry systems using a mobile data collecting device, e.g. walk by or drive by

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Software Systems (AREA)
  • Automation & Control Theory (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Mathematical Physics (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Data Mining & Analysis (AREA)
  • Computing Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Biophysics (AREA)
  • General Health & Medical Sciences (AREA)
  • Molecular Biology (AREA)
  • Computational Linguistics (AREA)
  • Biomedical Technology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Medical Informatics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Manufacturing & Machinery (AREA)
  • Human Computer Interaction (AREA)
  • Fuzzy Systems (AREA)
  • Manipulator (AREA)
  • Selective Calling Equipment (AREA)
JP2019200241A 2019-11-01 2019-11-01 自律移動ロボット、装置、被遠隔操作装置及びプログラム Active JP7550511B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2019200241A JP7550511B2 (ja) 2019-11-01 2019-11-01 自律移動ロボット、装置、被遠隔操作装置及びプログラム
PCT/JP2020/040293 WO2021085429A1 (ja) 2019-11-01 2020-10-27 被遠隔操作装置、遠隔操作システム、遠隔操作装置
US17/733,949 US20220250247A1 (en) 2019-11-01 2022-04-29 Remote controlled device, remote control system and remote control device

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Application Number Priority Date Filing Date Title
JP2019200241A JP7550511B2 (ja) 2019-11-01 2019-11-01 自律移動ロボット、装置、被遠隔操作装置及びプログラム

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JP2021070140A JP2021070140A (ja) 2021-05-06
JP2021070140A5 JP2021070140A5 (enExample) 2023-05-19
JP7550511B2 true JP7550511B2 (ja) 2024-09-13

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US (1) US20220250247A1 (enExample)
JP (1) JP7550511B2 (enExample)
WO (1) WO2021085429A1 (enExample)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2022063707A (ja) * 2020-10-12 2022-04-22 東京ロボティクス株式会社 ロボットシステム、その制御方法及びプログラム並びにシステム
KR20240101797A (ko) * 2021-11-08 2024-07-02 텔레이그지스턴스 인크. 관리 장치, 관리 시스템, 관리 방법 및 관리 프로그램
CN115167248A (zh) * 2022-08-12 2022-10-11 郑州市伊璞网络技术有限公司 一种无人超市控制系统的控制方法
JP7652157B2 (ja) * 2022-09-02 2025-03-27 トヨタ自動車株式会社 遠隔操作システム、遠隔操作方法、及び、制御プログラム
WO2024190308A1 (ja) * 2023-03-10 2024-09-19 ソニーグループ株式会社 情報処理装置、遠隔操作制御方法、遠隔操作制御システム、及び、自律移動体
WO2025177835A1 (ja) * 2024-02-20 2025-08-28 ソニーグループ株式会社 情報処理装置、情報処理方法、およびプログラム

Citations (3)

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Publication number Priority date Publication date Assignee Title
JP2010152833A (ja) 2008-12-26 2010-07-08 Ihi Aerospace Co Ltd 無人移動体システム
JP2013206237A (ja) 2012-03-29 2013-10-07 Denso It Laboratory Inc 自律走行ロボット及び自律走行ロボットの走行制御方法
JP2016106038A (ja) 2016-02-29 2016-06-16 ソニー株式会社 制御装置、制御方法、およびプログラム

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JPH11149315A (ja) * 1997-11-19 1999-06-02 Mitsubishi Heavy Ind Ltd ロボット制御システム
JP2003296855A (ja) * 2002-03-29 2003-10-17 Toshiba Corp 監視装置
JP6106594B2 (ja) * 2010-11-11 2017-04-05 ザ・ジョンズ・ホプキンス・ユニバーシティ ヒューマン・マシン連携ロボットシステム
US10377040B2 (en) * 2017-02-02 2019-08-13 Brain Corporation Systems and methods for assisting a robotic apparatus
JP6850639B2 (ja) * 2017-03-09 2021-03-31 本田技研工業株式会社 ロボット
US11052541B1 (en) * 2018-12-05 2021-07-06 Facebook, Inc. Autonomous robot telerobotic interface
KR102749960B1 (ko) * 2018-12-26 2025-01-03 삼성전자주식회사 청소 로봇 및 그의 태스크 수행 방법
US11654552B2 (en) * 2019-07-29 2023-05-23 TruPhysics GmbH Backup control based continuous training of robots

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010152833A (ja) 2008-12-26 2010-07-08 Ihi Aerospace Co Ltd 無人移動体システム
JP2013206237A (ja) 2012-03-29 2013-10-07 Denso It Laboratory Inc 自律走行ロボット及び自律走行ロボットの走行制御方法
JP2016106038A (ja) 2016-02-29 2016-06-16 ソニー株式会社 制御装置、制御方法、およびプログラム

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JP2021070140A (ja) 2021-05-06
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